Structure and controller optimization for enhanced performance of magnetic levitation planar motors

Abstract

The magnetic levitation planar motor utilizes electromagnetic force directly to achieve a six-degree-of-freedom motion. The magnitude and fluctuations of the electromagnetic force directly determine system’s acceleration and motion accuracy. This paper comprehensively improves the performance of magnetic levitation planar motor through structure optimization and controller design. A novel magnet array is adopted to enhance acceleration while establishing a precise analytical model for harmonic electromagnetic forces and analyzing the loop gain fluctuations. The optimized structure achieves an acceleration increase of over 58% while reducing higher-order harmonics by more than 34%. A fractional-order PI^λD^μ controller is employed to enhance design flexibility, utilizing gain margin, phase margin, and flat phase feature as constraints for a robust and high-bandwidth solution. Compared with the PID controller’s bandwidth of 16.74 Hz, the PI^λD^μ controller’s bandwidth is increased by 52%, reaching 25.57 Hz. Experiments validate the reliability of electromagnetic modeling and the controller design strategy.

Graphical abstract

Keywords

gain fluctuations / electromagnetic modeling / high-order harmonics / magnetic levitation planar motor / fractional-order PI^λD^μ controller

References

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